version: 66.08
glider: 502
mission: 3
dive: 70
start: 11 27 110 10 3 17
data:
$ID,502
$MISSION,3
$DIVE,70
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,1
$SURFACE_URGENCY_TRY,2
$SURFACE_URGENCY_FORCE,2
$T_DIVE,125
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.0049999999
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,10
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,623.29712
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-23503.777
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3065
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.546913
$PRESSURE_SLOPE,0.00011650941
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,261110,062908,-7726.157,16510.441,181,99.0,181,144.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-12.2
$GPS2,261110,062908,-7726.157,16510.441,181,99.0,181,144.2
$SPEED_LIMITS,0.208,0.300
$TGT_NAME,SOUND1
$TGT_LATLONG,-7728.000,16520.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,347.4,5139,-18.7,-12.000
$D_GRID,582
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.84,-175.2,0.0,0.0,0,168,0.00,0.00,-149.55,0.000,2,0.000,0.000,425,2662,3327,0,0,0,0,0,0
$GC,170,-0.84,-175.2,3.1,-1.9,23,199,8.95,1.88,-9.93,0.000,4,0.218,0.089,2780,3758,3680,0,0,0,0,0,0
$GC,292,-0.69,-175.2,27.4,-20.4,44,301,0.17,1.80,0.00,0.000,6,0.149,0.049,2836,2648,3682,0,0,0,0,0,0
$GC,434,-0.65,-175.2,47.9,-13.6,69,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2647,3683,0,0,0,0,0,0
$GC,573,-0.62,-175.2,66.5,-12.6,94,581,0.00,1.88,0.00,0.000,4,0.000,0.070,2829,3759,3683,0,0,0,0,0,0
$GC,627,-0.58,-175.2,74.2,-13.7,103,634,0.15,1.77,0.00,0.000,6,0.158,0.047,2872,2636,3683,0,0,0,0,0,0
$GC,768,-0.63,-175.2,90.0,-10.8,128,776,0.00,1.90,0.00,0.000,4,0.000,0.071,2867,3760,3683,0,0,0,0,0,0
$GC,804,-0.66,-175.2,94.4,-11.9,134,812,0.00,1.77,0.00,0.000,6,0.000,0.047,2868,2653,3683,0,0,0,0,0,0
$GC,943,-0.70,-175.2,110.0,-10.9,151,946,0.00,1.83,0.00,0.000,4,0.000,0.073,2867,3760,3683,0,0,0,0,0,0
$GC,989,-0.74,-175.2,115.3,-11.5,155,993,0.12,1.75,0.00,0.000,6,0.091,0.047,2798,2641,3683,0,0,0,0,0,0
$GC,1130,-0.65,-175.2,137.6,-16.8,168,1135,0.20,1.85,0.00,0.000,4,0.161,0.069,2849,3763,3683,0,0,0,0,0,0
$GC,1159,-0.61,-175.2,142.3,-15.1,170,1163,0.00,1.75,0.00,0.000,6,0.000,0.048,2849,2644,3683,0,0,0,0,0,0
$GC,1299,-0.61,-175.2,160.4,-12.6,183,1303,0.00,1.83,0.00,0.000,4,0.000,0.070,2842,3758,3683,0,0,0,0,0,0
$GC,1335,-0.61,-175.2,165.1,-13.9,186,1339,0.00,1.73,0.00,0.000,6,0.000,0.047,2842,2653,3683,0,0,0,0,0,0
$GC,1476,-0.61,-175.2,184.1,-13.0,199,1480,0.00,1.83,0.00,0.000,4,0.000,0.071,2833,3766,3683,0,0,0,0,0,0
$GC,1512,-0.58,-175.2,188.8,-14.5,202,1516,0.15,1.75,0.00,0.000,6,0.155,0.048,2877,2643,3683,0,0,0,0,0,0
$GC,1654,-0.64,-175.2,203.9,-10.0,215,1658,0.00,1.83,0.00,0.000,4,0.000,0.070,2870,3760,3683,0,0,0,0,0,0
$GC,1711,-0.71,-175.2,210.0,-10.4,220,1715,0.10,1.73,0.00,0.000,6,0.106,0.047,2815,2651,3683,0,0,0,0,0,0
$GC,1852,-0.65,-175.2,229.9,-14.8,233,1857,0.12,1.85,0.00,0.000,4,0.174,0.071,2842,3770,3683,0,0,0,0,0,0
$GC,1878,-0.63,-175.2,234.2,-13.9,235,1887,0.00,1.80,0.00,0.000,6,0.000,0.048,2842,2645,3683,0,0,0,0,0,0
$GC,2015,-0.63,-175.2,251.3,-13.2,248,2018,0.00,1.83,0.00,0.000,4,0.000,0.070,2835,3767,3683,0,0,0,0,0,0
$GC,2049,-0.61,-175.2,256.2,-13.6,251,2053,0.12,1.75,0.00,0.000,6,0.161,0.048,2869,2646,3683,0,0,0,0,0,0
$GC,2252,-0.67,-175.2,278.2,-10.9,270,2256,0.00,1.83,0.00,0.000,4,0.000,0.071,2867,3760,3683,0,0,0,0,0,0
$GC,2309,-0.73,-175.2,284.6,-11.3,275,2314,0.12,1.73,0.00,0.000,6,0.091,0.047,2798,2652,3683,0,0,0,0,0,0
$GC,2512,-0.64,-175.2,315.9,-16.1,294,2517,0.20,1.83,0.00,0.000,4,0.158,0.069,2849,3762,3683,0,0,0,0,0,0
$GC,2552,-0.64,-175.2,321.7,-13.6,297,2556,0.00,1.75,0.00,0.000,6,0.000,0.047,2850,2639,3683,0,0,0,0,0,0
$GC,2755,-0.64,-175.2,345.5,-11.4,316,2758,0.00,1.85,0.00,0.000,4,0.000,0.071,2842,3769,3683,0,0,0,0,0,0
$GC,2811,-0.64,-175.2,352.5,-12.4,321,2814,0.00,1.75,0.00,0.000,6,0.000,0.048,2842,2648,3683,0,0,0,0,0,0
$GC,3014,-0.64,-175.2,377.1,-11.8,340,3017,0.00,1.83,0.00,0.000,4,0.000,0.071,2834,3759,3683,0,0,0,0,0,0
$GC,3070,-0.64,-175.2,384.3,-12.6,345,3074,0.00,1.73,0.00,0.000,6,0.000,0.048,2834,2652,3682,0,0,0,0,0,0
$GC,3273,-0.64,-175.2,409.3,-12.1,364,3276,0.00,1.83,0.00,0.000,4,0.000,0.071,2825,3767,3683,0,0,0,0,0,0
$GC,3318,-0.62,-175.2,415.3,-13.6,368,3322,0.15,1.75,0.00,0.000,6,0.155,0.049,2869,2648,3682,0,0,0,0,0,0
$GC,3521,-0.68,-175.2,435.3,-9.4,387,3525,0.00,1.83,0.00,0.000,4,0.000,0.072,2867,3759,3683,0,0,0,0,0,0
$GC,3581,-0.76,-175.2,441.5,-9.7,392,3589,0.10,1.77,0.00,0.000,6,0.056,0.047,2798,2650,3682,0,0,0,0,0,0
$STATE,3653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3653,begin apogee
$GC,3657,-0.17,0.0,450.7,14.2,399,3821,0.65,0.00,157.68,1.108,6,0.139,0.000,3006,2491,2960,0,0,0,0,0,0
$STATE,3822,end apogee,CONTROL_FINISHED_OK
$STATE,3822,begin climb
$GC,3823,0.84,175.2,457.5,0.0,414,3999,1.00,2.60,166.38,1.036,4,0.078,0.054,3339,1102,2244,0,0,0,0,0,0
$GC,4071,0.73,175.2,429.9,15.3,436,4080,0.15,2.45,0.00,0.000,6,0.162,0.054,3303,2498,2233,0,0,0,0,0,0
$GC,4271,0.63,175.2,401.2,14.5,455,4276,0.12,2.12,0.00,0.000,4,0.174,0.065,3271,3762,2228,0,0,0,0,0,0
$GC,4325,0.55,175.2,392.9,14.0,459,4333,0.10,2.10,0.00,0.000,6,0.152,0.048,3249,2504,2227,0,0,0,0,0,0
$GC,4525,0.59,206.8,371.6,10.5,478,4555,0.00,0.00,27.55,1.001,6,0.000,0.000,3249,2503,2117,0,0,0,0,0,0
$GC,4748,0.65,233.8,347.3,10.8,499,4776,0.00,0.00,25.70,0.984,6,0.000,0.000,3249,2503,2006,0,0,0,0,0,0
$GC,4969,0.72,260.6,323.0,10.8,520,5004,0.15,2.22,25.23,0.972,4,0.076,0.066,3318,3764,1896,0,0,0,0,0,0
$GC,5019,0.62,260.6,314.6,17.2,524,5028,0.17,2.12,0.00,0.000,6,0.138,0.048,3273,2501,1894,0,0,0,0,0,0
$GC,5218,0.62,260.6,289.1,12.5,543,5221,0.00,2.30,0.00,0.000,4,0.000,0.057,3282,1079,1889,0,0,0,0,0,0
$GC,5240,0.65,260.6,286.3,12.2,545,5245,0.00,2.35,0.00,0.000,6,0.000,0.057,3282,2503,1888,0,0,0,0,0,0
$GC,5439,0.65,260.6,260.6,13.3,563,5442,0.00,2.05,0.00,0.000,4,0.000,0.066,3282,3764,1886,0,0,0,0,0,0
$GC,5484,0.61,260.6,253.9,15.3,567,5488,0.00,2.03,0.00,0.000,6,0.000,0.049,3288,2495,1887,0,0,0,0,0,0
$GC,5690,0.61,260.6,226.1,13.5,586,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2493,1885,0,0,0,0,0,0
$GC,5816,0.61,260.6,208.9,13.8,598,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2493,1884,0,0,0,0,0,0
$GC,5944,0.61,260.6,191.7,13.7,610,5948,0.00,2.08,0.00,0.000,4,0.000,0.067,3288,3764,1884,0,0,0,0,0,0
$GC,5964,0.59,260.6,189.1,14.0,611,5968,0.15,2.00,0.00,0.000,6,0.156,0.049,3255,2498,1884,0,0,0,0,0,0
$GC,6099,0.67,286.1,173.5,10.8,623,6128,0.00,2.35,22.70,0.927,4,0.000,0.058,3260,1096,1793,0,0,0,0,0,0
$GC,6149,0.81,323.6,168.3,10.3,627,6190,0.17,2.33,34.58,0.896,6,0.072,0.057,3335,2501,1640,0,0,0,0,0,0
$GC,6325,0.73,323.6,137.0,19.0,643,6330,0.12,2.10,0.00,0.000,4,0.159,0.065,3302,3773,1630,0,0,0,0,0,0
$GC,6366,0.73,323.6,129.1,16.6,646,6376,0.00,2.10,0.00,0.000,6,0.000,0.050,3310,2502,1630,0,0,0,0,0,0
$GC,6502,0.73,323.6,108.1,15.8,659,6506,0.00,2.28,0.00,0.000,4,0.000,0.059,3316,1089,1627,0,0,0,0,0,0
$GC,6543,0.76,323.6,102.2,15.6,662,6547,0.00,2.35,0.00,0.000,6,0.000,0.057,3316,2506,1626,0,0,0,0,0,0
$GC,6679,0.74,323.6,80.2,16.7,685,6686,0.00,2.05,0.00,0.000,4,0.000,0.067,3315,3762,1625,0,0,0,0,0,0
$GC,6706,0.70,323.6,75.7,17.7,689,6713,0.12,2.03,0.00,0.000,6,0.159,0.050,3290,2498,1625,0,0,0,0,0,0
$GC,6844,0.74,323.6,56.1,13.1,714,6852,0.00,2.28,0.00,0.000,4,0.000,0.058,3298,1097,1624,0,0,0,0,0,0
$GC,6880,0.81,323.6,51.4,12.2,720,6888,0.00,2.33,0.00,0.000,6,0.000,0.057,3298,2501,1623,0,0,0,0,0,0
$GC,7021,0.83,323.6,32.4,14.6,745,7028,0.10,2.05,0.00,0.000,4,0.104,0.067,3346,3767,1623,0,0,0,0,0,0
$GC,7051,0.76,323.6,26.8,19.2,750,7059,0.12,2.05,0.00,0.000,6,0.147,0.050,3315,2504,1623,0,0,0,0,0,0
$FREEZE,8.10,-1.539,-1.903,2,13,0
$FREEZE,6.99,-1.548,-1.902,2,13,0
$FREEZE,6.15,-1.543,-1.902,2,13,0
$FREEZE,5.05,-1.558,-1.901,2,13,0
$FREEZE,4.19,-1.572,-1.901,2,13,0
$FREEZE,3.26,-1.572,-1.900,2,13,0
$FREEZE,2.32,-1.576,-1.899,2,13,0
$STATE,7194,end climb,SURFACE_DEPTH_REACHED
$STATE,7194,begin surface coast
$FREEZE,1.21,-1.576,-1.898,2,13,0
$FREEZE,1.04,-1.580,-1.895,2,13,0
$FREEZE,1.08,-1.580,-1.896,2,13,0
$FINISH,1.1,1.027797
$STATE,7213,end surface coast,CONTROL_FINISHED_OK
$STATE,7213,begin surface
$SM_CCo,7227,178.00,0.733,1,0,419,623.30
$SM_GC,1.41,0.00,0.00,178.00,0.000,0.000,0.733,426,2660,419,-8.25,0.28,623.30
$IRIDIUM_FIX,-7639.69,16500.29,261110,060609
$TT8_MAMPS,0.028462
$HUMID,51.14
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.5
$ALTIM_BOTTOM_PING,450.7,48.4
$24V_AH,21.7,22.936
$10V_AH,9.9,12.662
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.500,110.725,459.800,178.000,0.000,99.112,17.708,0.000,2.500,0.000,181.681,1890.904,3001.270,760.994,2117.604,193.537,0.000,1621.990,0.000,1321.422,0.000,14.045,0.000
$DEVICE_MAMPS,218.025,88.740,1107.720,732.870,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.832,939.501,912.410,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275884
$DATA_FILE_SIZE,53813,778
$CAP_FILE_SIZE,123597,0
$CFSIZE,260165632,249716736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261110,062908,-7726.157,16510.441,181,99.0,181,144.2